Condition responsive modulating motor control system

ABSTRACT

A condition responsive circuit, disclosed as including two temperature responsive elements, is adapted to be connected to a pair of identical amplifiers which are biased to different operating levels. The amplifiers each have outputs that are connected to different silicon controlled rectifiers that are in turn connected in an inverse parallel relationship. Each of the pair of amplifiers further includes a positive feedback circuit to its respective input, and a time delayed negative feedback circuit connected to its respective input. An electric motor is connected in series with an alternating current supply and a pair of silicon controlled rectifiers so that the motor can be controlled. The motor is of a type that operates in a first direction when energized by a full-wave alternating potential to load a resilient means, such as a spring. The resilient means or spring is capable of returning the motor and load in the opposite direction when energy is removed from the motor. The motor is capable of being stalled and maintained in any intermediate position by the application of unidirectional half-wave potential.

United States Patent Pinckaers [451 Nov. 7, 1972 [5 4] CONDITION RESPONSIVE a Primary ExaminerQ-Benjamih Dobeck I MODULATING MOTOR CONTROL 1 Attorney-Lamont B. Koontzet al.

SYSTEM [57] ABSTRACT w [72] Inventor: Balthasar Hubert Pinckaers, Edma, v

Minn A condition responsive circuit, disclosed as including v p two temperature responsive elements, is adapted to be [73] vAsslgnee? Honeywell! Inc-1 MmneapohsiMmnconnected to'a pair of identical amplifiers which are [22] -d 3 1971 biased to different operating levels. The amplifiers v 1 I each have outputs that are connected to different sil- PP Q-' 1 icon controlled rectifiers that are in turn connected in an inverse parallel relationship. Each of the pair of [52] U;s.c|.' ..3l8/47l,3l8/676 307/117- 'amplifiers further includes almsifive feedback circuit 51' 1m Cl. .Q. ..osh 11/01 respective input and a time delayed egative [58] Fieid 318/471 47 676 feedback circuit connected toits respective input. An electric motor is connected in series with an alternatv v ing current supply and a pair of silicon controlled rectifiers so that 'the motor can be controlled. The 1 References Cited motor is of a type that operates in a first direction UNITED STATES PATENTS when energized by a full-wave alternating potential to v load a resilient means, such as a'spring. The resilient Cropper X means or p g i p l f returning the motor and 3,525,916 8/1970 chodash "318/471 X load in the opposite direction when energy is removed 3,566,151 2/1971 wllbum ..307/1 17 from the motor The motor i capablerof being stalled 3,639,824 2/1972 i Malavasl ..3l8/678 X and maintained i any i diate position by the application of unidirectional half-wave potential.

6 Claims, 2 Drawing Figures .'2-r w e r Y I 21 22 |5| m I |NTC ,i 2o Iii/file 4, (l) 7 L r ,33 ,34 l h i R ;7 w l 26 I l L, *88 v 1; 56 as v 94"? 27 I ,53 i 51 X I 1 B p lie sf & f 95 I 45 4Q "63 B A 62 I I I I 66 :E 76 :5 I i f" 72 l 14 "A \?4 (73 v (H480 I 35" i l 122 I93 "p l l! I 52 In D 38 23 v I I 36 PATENTEBIIWTIBH v .102.431 -sIIEEI2IIr2 FIG.2

MOTOR 22 FULLY .ENERGIZED WITH FULL WAVE ALTERNATING CURRENT, THEREFORE VALVE 0 DAMPER CLOSING AT FULL .ISPEEDI (CLOSING) lOO%- I HOLD CLOSE HOLD CLOSE I I VALVE VALVE I I I HOLD I AVERAGE o-- SPEED I T I I I I y I I W, n In n I SPRING O SPRING I I I OPENS P N I I I vALvE VALVE I I I I MOTOR 22 COMPLETELY I DE-ENERGIZED,THEREFORE' M A E SPRING ISOPENING VALVE I I SYSTEM TEMPERATURE IS SATISFIED.

.INVENTOR, BALTHASAR HUBERT' PINCKAERS A T TOR/V5 X CONDITIONRESPONSIVE MODULATING MOTOR CONTROL SYSTEM 7 BACKGROUND OF THE INVENTION In'the field-of temperature control by positioning a valve or damper with a-motor, normally the simpler systems include a two position arrangementin which the valve or damper is either fully opened or fully closed by the electric motor. In order to obtain a modulating type of controL-themotor and circuitry used are so costly, it is prohibitive as'a means of control except I in limited applications. It is'thus desirable to find a way -to utilize an inexpensive motor, such asa simple synchronous motor, that can be operated to position the valve in a modulating manner rather than in the normal off on type ofcontrol' where the motor drives the valve or damper either to an open or a closed position,

SUMMARY OF TiIeINv-ENTIoN i Thefpresent invention is-directed to a condition responsive circuit orthermostatthat utilizes one or more thennistors to sense temperature and control a pairo'f amplifiers in an unusual fashion. Theamplifiers includeboth positive and negative feedback, with the negativefeedback being delayed intime by the use of capacitors, so that the output of amplifier-sis ineffect a time modulated output.-- This time modulated output is usedto control a pair of solid state switches such as silicon controlled rectifiers that are connected in an inverse parallel relationship through a conventional 2. FIG. 2 is a graph of temperature versus average speed of the valve or damper.

DESCRIPTION onITIIE PREFERRED r EMBODIMENT The drawing of thepresent application disclosesxa complete condition responsivecontrol system and will be described as asystem which is temperature responsive. A first temperature sensor is disclosed along witha solid state thermostat l1, and a motorized valve or damper with-a power supply 12. The sensor 10, thermostat 11, and motorized unit 12 can all be placed within the same area or room in whichthe temperature is to be controlled,,b ut the temperature sensor l0 is located remote from the thermostat 11, and normally would be in proximity to the discharge air coming-from themotorized unit 12. The authority or relative 'control influence between-the sensor 10 and thethermostat ll is,"for example, ina ratio of 50 to 1. That is to say a 50 F. change in temperature as sensed by sensor 10 has the same influence as a 1 F. change sensed by thermostat sensor 43. The remote temperature sensor 10 is 'a desirable. feature, but is not essential for the operation of the system.

The motorized valveor damper unit 12 includes a pair of input'terminals 13 and'l4 which are connected synchronous motor, like those used" in driving clocks and Itimers. This motor in turn is provided with a resilient loading'means, such as aspring, that is compressed when the motor is operated in. one direction. When the motor is de-energized, the resilient loading means or spring returns'the motor and any associated load, such as avalve, to the opposite extreme. This type of motor is'furthe'r capable of being stalled at any intermediate position by thev application of unidirectional half wave alternating current voltage, as opposed to the normal full-wave alternating currentvoltage used to Operate the motor asa synchronous motor. a

' In the present invention, 'a spring loaded motor of the synchronous type that controls a temperature changing device, such as a valve, is operated in its usual manner by applying full-wave alternating current thereby driving-the motor at full speed in a first direction. The

motor can be stalled-with full potential applied to it without damaging the motor. The motor can be energized with half-wave energy to lock the motor inany particular intermediate positionwhich it has reached, or the motor can be allowed to be driven to'it's original to a conventional source of altemating current. A resistor l5, diode 16, and zener diode 17 provide a conventional power supply with a regulated direct current potential between a pair of terminals 20 and 21.

The inputterminal '13 is further connected to a motorized valve or damper 22 which is further connected to a terminal '23. The motorized valve ordamper'22 has been shown schematically and includesza'conventional synchronous type of motor such as is used in driving timerswitches, clocks, valves, or dampers. This mo:

. torized valve or damper device further includes a with this operation loading the spring as the valve or damper is operated. ln-the event that power is removed from the motorized valve or damper 22, the resilient position by the spring by theremoval of all potential from the" motor. With this arrangement, a complete modulating arrangement is accomplished with equip ment that normally provides only two position control.

BRIEF DESCRIPTION OF THE DRAWING in FIG. l'of the present application is a complete schematic diagram of a condition responsive system or temperature responsive system to'control a motor that in turn operates a valve to control the temperature to whichthe temperature responsive elements are exposed, and;

means or spring drives the valve or damper 22 in the reverse direction. At any time that it is desirable to stop the motor, a dynamic braking action is provided by the application of direct current (in the form of half-wave rectified alternating current). Motorized valves or dampers that are operated in one direction under the influence of an electric motor, and in the opposite direction under the influence of the spring, are well known in the art, as is the concept of dynamic braking. As such,'no structural details of the motorized valve or damper 22 have been disclosed as they are not specifically pertinent to the presentinvention. The mode of operating the motorized valve or damper22 is the subject of the present invention and will bedescribed in connection with the solid state thennostat 1'1.

V conductor 25'that are connected to terminal 14 of unit 12. A further pairof terminals 26 and 27 are connected by conductors 30 and 28, respectively, to terminals 23 and 20 of unit 12. Between terminals 27 and 24, the direct current potential across the zener diode 17 is applied to a capacitor 31 where it is filtered and acts as a low voltage direct current power supply for the thermostat 11. The thermostat 11 is connected in series with the motorized .valve or damper 22 ofunit 12 byconductors 25 and 30. Depending on the condition of the switching circuits contained in thermostat 11, the motorized valve or damper 22 either is de-energized, energized with undirectional rectified alternating current or half-wave voltage, or is energized withfull wave alternating current voltage. The means for accomplishing this will be described after the description of the condition'or temperature sensing function of the thermostat 11.

' Temperature sensor includesa condition responsive element in 32inthe form of a temperature respons'ive resistor such as a negative temperature co efficient thermistorJThe thermistor 32 is connected to thermostat 11 at terminals 33 and 34 across a resistor 35. The resistor 35 acts to linearize'the characteristicsof the thermistor 32L Terminal 33 is connected to acond'uctor'36 that is common and connects in turn to terminal 24 of the thermostat 1 1. Conductor 36 also forms the negative or ground of the direct current potential across the capacitor 31. The positive side'of capacitor 31 is connected to a conductor 37 that is connected in turn to terminal 2.7. The conductor 37 is connected to a network including a resistor 38, a calibrating potentiometer 40, and-to a junction 41. Junction 41 is connected to a parallel combination of a resistor 42 and a second condition responsive element again shown as a negative temperature co-efficient. thermistor 43. The parallel combination'of thermistor 43 and resistor 42 provides a linear characteristic for the temperature sensing function of the thermistor 43. The parallel combination of resistors 42 and 43 is connected to a set point potentiometer 44 which is in turn connected by conductor 45 to a resistor 46 that connects to terminal 34.

Three resistors 50, 51, and 52 are connected in series across conductors 36 and 37 and form a'voltage dividing network and part of a bridge circuit which includes the previously indicated resistive elements. Thevoltage divider-made up of resistors 50, 51, and 52 provides a means of biasing an amplifier arrangement that will be 4 positive powerterminal 56 and a ground or negative terminal 57 that serves both amplifiers A and B. The amplifier A has input terminals 60 and 61, and an output terminal 62, while the amplifier B has input terminals 63 and 64 with an output terminal 65. A pair of capacitors 66 is used externally to the amplifier means 55 in a well known manner for frequency compensation. It will be understood that the amplifier means 55, which provides two identical amplifiers Aand B, is a single integrated, packaged device that is commercially available and of no direct consequence in the present invention except as two conventional amplifiers. A

The input terminal 60 of amplifier A is connected to junction 53, while the input terminal 63 of amplifier B is connected to the junction 54. The negative terminal 61 of amplifier A is connected by conductor 70 to the negative terminal 64 of amplifier B. The conductor 70 isfurther connected to a conductor 71 that connects 'to the bridge junction 41 and the balance of the circuitry. It is apparent that since the amplifiers A and B have a common negative terminal but have their positive ter- 7 minals connected to different potentials, as represented described subsequently to two differentlevels of operation at junctions 53 and 54 across resistor 51.

The resistive network previously described constitutes a bridge having two temperature sensitive elements 32 and 43 with outputs between the junction 41 and the junctions 53 and 54. The operation of this bridge arrangement with the two different output or' operating levels will be described after the balance of at junction 53 and 54, that-the two amplifiers A and B are biased to two different operating levels. I

The output terminal 62 of amplifier A is connected by resistor 72, to a conductor 73 and a junction 74 in the voltage divider made up of the resistors 50, 51, and 52. The voltage divider also is common to the positive terminal 60 of the amplifier A 'and therefore forms a positive feed-back circuit means for amplifier A;

The output terminal 65 of amplifier Bis connected by conductor 74 to a resistor-75that is in turncon nected to the conductor 73 and the input to the positive terminal 63 of. the amplifier B; The resistor 75 then becomes part of a positive feedback circuit means for amplifier B in the same fashion as resistor, 72 is in the positive feedback circuit means for amplifier A.

The output terminal 62 of amplifier A is further connected by conductor 76 to a resistor 77 and a capacitor 78 which forms part of a negative feedback circuit A means with a time delay'function created bycapacitor 78. The feedback circuit meansis completed by a resistor 80 that is connected back to conductor 71 that is common with the negative terminal of amplifier A.

The output terminal 65 of amplifier B is connected through the conductor 74 to a resistor 81 and capacitor 82 along with a resistor 83 that are similar to the resistor 77, capacitor 78, and resistor 80. The resistor 83 is connected to conductor 71 and forms part of a negative feedback circuit means with a time delay created .by the capacitor 82 for the amplifier B in the same manner that a time delayed negative feedback path is created for amplifier A. The resistance values of the feedback circuits of both amplifiers A and B have been selected so that the total resistance in the negative feedback circuit is, smaller than the resistance in the positive feedback circuit. v

The output terminal 62 of amplifier A is further connected-by a resistor 84 to a gate 85 of a silicon controlled rectifier'86 and provides a controlling or gating signal across a resistor 87. The silicon controlled rectifier 86 forms afirst of a pair of unidirectional solid state switch means and is connected by conductor 88 to terminal 26 of thermostat ll.

that form a'gating circuit'toa gate92 of a siliconcontrolled rectifier 93. The silicon controlledrectifier 93 in'this particular circuit is used as a high voltage PNP transistor for signal coupling, and is not an output device in and of itself. The siliconcontrolled rectifier 93 is iniseries with a resistor 94 to the'terminal 26. The resistor 94' actsas a means of gating a further silicon controlled rectifier disclosed at 95 which has its gate 96 eonnectedto resistor 94. The silicon controlled rectifier 95 is the second of the pair of unidirectional solid state'switch means and is connected in an inverse parallel relationship with the silicon controlled rectifier 86 by conductors 9 7 and .98.

' ERA N 1 Assume at first that the motorized valve or damper 22 associated with unit 12 is stopped in an intermediate position between full closed and fullopenQThis means that the motor is receiving half-wave direct current ex-, citation through silicon controlled rectifier 86. This in turn means thatamplifier A is on or that its output voltage is high, thereby rendering silicon controlled rectifier 86' conductive when terminal 13 is positive with respect to terminal 14'. Also, in this assumed condition, silicon controlled rectifier 95 and silicon controlled rectifier 93 arenot conductive because amplifier B is not on and hence its output voltage is low. To cause amplifiers A and B to be in these respective states it is necessary that the voltage or potential of junction 41 with respect to' conductor 36 (commonnegative, of the circuit) is a little lower than thepotential existingat junction 53.

' Now, assume that the'temperature as sensed by senv sor 43 in thermostat drifts downward. The result of this is that the potential at junction 4l'drifts upward. This continues until this potential is nearly the same-as the potential'prevailing at junction 53. Upon reaching that value amplifier A, which in effect is used as'a sensitive switching circuit, regeneratively-turns .o so that its output voltage at 62 suddenly becomes low and now also silicon} controlled rectifier 86 is no longer conductive. The regenerativeswitchingoccurs, as the result of positive feedback through resistor 72.

It is clear that, upon amplifier A turning o and silicon controlled rectifier 86 nolonger receiving gating current, the motor 22 is totally tie-energized thereby allowing the spring to start opening. the associated damper; or-valye more in order to;sa ti'sfy the 6 feedback current in resistor 80 willbegin to change. When the magnitude of this current change, which also affects the potential at junction4l, is of such a value thatitequals; the magnitude'of currentchange (upon foff" switching-).which occurred in resistor 72, amplifier A will suddenly turn on" again. This happens because atthat point in timethe negative feedback (through resistor 80 to junction 41) equals the positive feedback(through resistor 72 to junction 41) so-that once again, without any change in the resistances of sensors 43 and 32, the potential at junction 41 is nearly the same as thatat junction 53. Once amplifierA has turned on" again it can be seen that its outputwill i again rechargel fcapacitor 78. to a higherpotential and by so doing willin time raise the potential at junction 41 to again turn foff" amplifier A. l I

It is therefore elear'that' the output at 62 of amplifier A cycles on and off automatically. The ratio of on to off time (or vice versa)'is determined by the specific sensor temperatures. It is equally clear that the spring can-move the yalve or damper (and motor) toward the-fulltopen position only when the output of amplifier A is n'ot present (no braking). Hence, what has been provided is, in effect, a speed control to reposition (hereizjopen) the valve with a speed thatis proportional to the required correction. If the system and circuit parameters have been correctly determined this means, as a practical benefit, that although there is no motor position feedback potentiometer, the valve or v damper is repositioned to a new position without overshoot and or hunting which results in very good temperature control.

- A similar case can be described for amplifier B which is turned on when the valve must be repositioned toward the closed position, but not all the way-closed.

' The missing half of the full-wave. alternating current is between full; open and full closedis determined by the amount of temperature correction (up neededg v I Since the temperature sensing means 10 is directly in the discharge air from the motorized valve or damper unit 12, it nearly immediately senses the presence or absence of the heating fluid or media and provides the bridge in the thermostat l l with a corrective signal that or down that is is not delayed: by the time normally necessary to change demand for more heat-as evidenced by the total deenergization-of motor 22. It isequally clear that in order to satisfy that de'mandfor more heat, the valve or. damper need be opened only a small amount more.

Therefore the valve should, under the assumed condition, open at a verylow average speed so as to thereby give both sensor 43 and sensor 32 a chance'tosense the result of the valve opening before the valve has openedmuch more. This speed control action, as it were,-is providedby the time delayed negative feedback as sociated, in our example, with amplifier A. Prior to turn off of amplifier A capacitor 78 was chargedto some value of voltage.

' Aspreviously described, if theoutput at 62 of amplifier A is suddenly turned off,.i,t can be seen that the the temperature of the sensor 43 in thermostat 11. While this feature is notessential to the operation of thepresent invention, it does lend accuracy and stability to some control systems and is very desirable.

The essential part of the present invention is the idea of controlling the-average speed of a motorized valve or damper with; either full-wave alternating current to drive it in one direction, or allowing the spring to operate it in the opposite direction when no energy is supplied, along with the concept of being able to lock the device in any intermediate position by the application of unidirectional or-half-wave voltage. This is accomplished by the use of a time delayed negative feedback that is larger in fultimate magnitude than the positive feedback in the amplifier channels. This provides a modulated arrangement so that the motor can be energized in a manner that effectively locks the valve or damper 22 in the proper position rather than allowing it to drive between two opposite extremes, as is the normal or conventional case with this type of motorized valve equipment;

The embodiments of the invention in which an exclusive property or right is claimed are defined as follows:

1. A condition responsive control system adapted to control condition changing means by way of an electric motor that is operated in a forward direction upon application of full-wave alternating current thereby loading resilient means with said resilient means capable of returning the motor in a reverse direction to astarting position of the motor when electric power is removed from said motor, and with said motor further being capable of being stalled in any intermediate position by application of a unidirectional voltage applied to said motor, including: condition responsive means having an output voltage that varies in magnitude with variations in a condition sensed by said condition responsive means; a pair of amplifier means each having input and output means; said amplifier meanseach having a different operating level and having their input means connected to said condition responsive output voltage;

' said amplifiers means each further having positive feedback circuit means and time delayed negative feedback circuit means connected between said amplifier input and output means to provide an output from each amplifier means as a function of the magnitude of said condition responsive output voltage; a pair of unidirectional solid state switch means connected in inverse parallel relationship with said pair of switch means further connected in series with said electric motor and adapted to connect said motor to a source of alternating current voltagez and output circuit means connecting each of said amplifier output means to control one of said solid'state switch means; said motor 7 adapted to operate said condition changing means to which said condition responsive means is ultimately responsive to establish a controlled condition; v

- 2. A condition responsive control system as described in claim 1 wherein said condition responsive means is a temperature responsive means and includes bridge circuit means having temperature responsive resistance means to sense temperature.

3. A condition responsive control system as described in claim'2 wherein said temperature responsive resistance means includes two temperature responsive resistors responsive to temperatures in two'different locations.

4. A condition responsive control system as described in claim 2 wherein said time delayed negative feedback circuit means includes a capacitor in each of said delayed negative feedback circuitmeans to establish a delayed negative feedback with respect to a positive feedback in said positive feedback circuit srve resistors responsive to temperatures. in two different locations, and said resistors being of different values to establish different effects in said bridge circuit means.

a a Q a s 

1. A condition responsive control system adapted to control condition changing means by way of an electric motor that is operated in a forward direction upon application of full-wave alternating current thereby loading resilient means with said resilient means capable of returning the motor in a reverse direction to a starting position of the motor when electric power is removed from said motor, and with said motor further being capable of being stalled in any intermediate position by application of a unidirectional voltage applied to said motor, including: condition responsive means having an output voltage that varies in magnitude with variations in a condition sensed by said condition responsive means; a pair of amplifier means each having input and output means; said amplifier means each having a different operating level and having their input means connected to said condition responsive output voltage; said amplifiers means each further having positive feedback circuit means and time delayed negative feedback circuit means connected between said amplifier input and output means to provide an output from each amplifier means as a function of the magnitude of said condition responsive output voltage; a pair of unidirectional solid state switch means connected in inverse parallel relationship with said pair of switch means further connected in series with said electric motor and adapted to connect said motor to a source of alternating current voltage; and output circuit means connecting each of said amplifier output means to control one of said solid state switch means; said motor adapted to operate said condition changing means to which said condition responsive means is ultimately responsive to establish a controlled condition.
 2. A condition responsive contRol system as described in claim 1 wherein said condition responsive means is a temperature responsive means and includes bridge circuit means having temperature responsive resistance means to sense temperature.
 3. A condition responsive control system as described in claim 2 wherein said temperature responsive resistance means includes two temperature responsive resistors responsive to temperatures in two different locations.
 4. A condition responsive control system as described in claim 2 wherein said time delayed negative feedback circuit means includes a capacitor in each of said delayed negative feedback circuit means to establish a delayed negative feedback with respect to a positive feedback in said positive feedback circuit means.
 5. A condition responsive control system as described in claim 4 wherein said pair of unidirectional solid state switch means are a pair of silicon controlled rectifiers.
 6. A condition responsive control system as described in claim 5 wherein said temperature responsive resistance means includes two temperature responsive resistors responsive to temperatures in two different locations, and said resistors being of different values to establish different effects in said bridge circuit means. 